Experimental Study on Flow and Sediment Movement in Cavity Circulations

This paper reports a flume experiment of flow and sediment movement in a cavity. The flow velocity, sediment concentration and the mechanism of hydraulic sorting in the circulation flow are discussed. The quantity and patterns of sediment deposition in the circulation area are studied as well.

Gust-Induced Movement of Dusts Suspended in Atmosphere

在气固两相流的单向耦合模型框架下,研究大气悬浮沙尘在阵风作用下的运动轨迹及其随大气风速、沙尘粒径的变化,揭示了在Stokes阻力、Saffman力和重力共同作用下,沙尘悬移可能转换为跃移的现象。

Experimental Investigation Of Particle Velocity Distributions In Windblown Sand Movement

With the PDPA (Phase Doppler Particle Analyzer) measurement technology, the probability distributions of particle impact and lift-off velocities on bed surface and the particle velocity distributions at different heights are detected in a wind tunnel. The results show that the probability distribution of impact and lift-off velocities of sand grains can be expressed by a log-normal function, and that of impact and lift-off angles complies with an exponential function. The mean impact angle is between 28 degrees and 39 degrees, and the mean lift-off angle ranges from 30 degrees to 44 degrees. The mean lift-off velocity is 0.81-0.9 times the mean impact velocity. The proportion of backward-impacting particles is 0.05-0.11, and that of backward-entrained particles ranges from 0.04 to 0.13. The probability distribution of particle horizontal velocity at 4 mm height is positive skew, the horizontal velocity of particles at 20 mm height varies widely, and the variation of the particle horizontal velocity at 80 mm height is less than that at 20 mm height. The probability distribution of particle vertical velocity at different heights can be described as a normal function.

A model experiment of the plate movement

Detailed analysis of some difficult aspects has been made from modeling the platemovement. A new method of using differential density of material (instead of differentialtemperature) has been developed in the experiments. The effect of convection of mantleon the plate movement has been studied using a centrifugal technique, and a patternshowing the recurrence of the plate movement has been successfully obtained. In this paper, a criterion De=Dm is presented for the similarity of the model to thecounterpart of the original mantle. According to the criterion, what happens in the modelin a span of ten minutes suggests a process of the "original model" going on in geologi-cal time of three million years.

Spatially directed movement and neuronal activity in freely moving monkey

The abilities to plan a series of movements and to navigate within the environment require the functions of the frontal and ventromedial temporal lobes, respectively. Neuropsychological studies posit the existence of egocentric (prefrontal) and allocentri

Design and path planning for a remote-brained service robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body. interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible pathfinding efficiency.

Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

a real-time path planning approach without the computation of cspace obstacles

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.